| During the experiment of inertial confinement fusion (ICF), a common diagnosticinstrument manipulator (DIM) is needed to be designed to carry various diagnosticinstruments into the experimental facility. It is required to occupy limited spatiallocation, be capable of providing larger carrying route, meet the requirement of highpositioning accuracy of various diagnostic facilities as well as guarantee the vacuum ofthe experimental facilities. According to the experimental carrying requirement and therelevant technology indicators, this paper designs a DIM which can meet the carryingrequirement, which is the combination of a parallel mechanism of two DOF and atranslational and can meet the need of radial adjust and pointing adjust of the diagnosticinstruments.First of all, this paper introduces the research overviews of parallel mechanism ofsix DOF and less-DOF, analyzes the procedures and functions of diagnostic instrumentmanipulator, and proposes the whole design project of diagnostic instrumentmanipulator according to the conditions of usage, design criteria as well as technologyindicators. In the design project, the diagnostic instrument manipulator is divided intofour modules which include carry cart, two-stage stretch out and draw back mechanismpointing adjusted mechanism and targeting system, then the structure design ofdiagnostic instrument manipulator is finished.Secondly, this paper briefly introduces relevant mathematic theories of kinematics,builds kinematical model of diagnostic instrument manipulator, and calculates the DOFof mechanism of diagnostic instrument manipulator. It solves the direct kinematics andinverse kinematics of mechanism by applying analysis method, and it calculatestheoretical adjust length precision of two electronic actuator (EA) by applying thesolved inverse kinematics.Moreover, by applying Virtual Prototyping Technology and based on process ofpointing adjust, this paper leads the Pro/E model of diagnostic instrument manipulatorinto Pro/Mechanism to carry on kinematics simulation, aiming to get the displacement,velocity and acceleration curve of the two EA and confirm the route of the two EA.Meanwhile, by applying the speed movement rules of two EA, this paper proceeds thesimulation of the driving force and gets the driving force of the two EA, which providesthe reference for the model selection of EA. Finally, this paper designs the targeting system of diagnostic instrumentmanipulator, elaborates the principle of double CCD intersection positioning which isapplied by diagnostic instrument manipulator, finishes the structure design of targetingsystem according to its principle, and introduces the image processing method andsoftware design of targeting process. |
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